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lyq 2026-03-25 13:51:49 +08:00
parent 1ab85c336a
commit fa8907ca6a
5 changed files with 3347 additions and 79 deletions
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1594
gps_load_now.txt
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routes/gps_load_1774320817763.txt Normal file
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routes/gps_load_1774322538612.txt Normal file
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@ -0,0 +1,280 @@
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2
src/communication/mqtt_report/src/mqtt/mqtt_reporter.cpp
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@ -71,7 +71,7 @@ void MqttReporter::publish_gps()
j["course"] = gps.course;
j["mode"] = gps.mode;
j["gps_timestamp"] = gps.timestamp;
j["report_timestamp"] = getCurrentTimestampMs();
j["timestamp"] = getCurrentTimestampMs();
mqtt_.publish(make_topic(config_.gps_topic_template, vid), j.dump(), 1);
}

6
src/perception/rslidar_pointcloud_merger/config/merger_config.yaml
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@ -14,8 +14,8 @@ lidar_merger:
filter_max_x: 10.0
filter_min_y: -5.0
filter_max_y: 5.0
filter_min_z: 0.0
filter_max_z: 1.0
filter_min_z: 0.1
filter_max_z: 0.9
# 体素降采样
voxel_size: 0.1
@ -44,7 +44,7 @@ lidar_merger:
# 车身过滤
filter_car: true
car_length: 1.8
car_length: 1.9
car_width: 1.34
car_lidar_offset_x: 0.0
car_lidar_offset_y: 0.0